openpilot_comma/opendbc_repo/opendbc/safety/modes/chrysler.h

#pragma once

#include "opendbc/safety/safety_declarations.h"

typedef struct {
  const unsigned int EPS_2;
  const unsigned int ESP_1;
  const unsigned int ESP_8;
  const unsigned int ECM_5;
  const unsigned int DAS_3;
  const unsigned int DAS_6;
  const unsigned int LKAS_COMMAND;
  const unsigned int CRUISE_BUTTONS;
} ChryslerAddrs;

typedef enum {
  CHRYSLER_RAM_DT,
  CHRYSLER_RAM_HD,
  CHRYSLER_PACIFICA,  // plus Jeep
} ChryslerPlatform;
static ChryslerPlatform chrysler_platform;
static const ChryslerAddrs *chrysler_addrs;

static uint32_t chrysler_get_checksum(const CANPacket_t *msg) {
  int checksum_byte = GET_LEN(msg) - 1U;
  return (uint8_t)(msg->data[checksum_byte]);
}

static uint32_t chrysler_compute_checksum(const CANPacket_t *msg) {
  // TODO: clean this up
  // http://illmatics.com/Remote%20Car%20Hacking.pdf
  uint8_t checksum = 0xFFU;
  int len = GET_LEN(msg);
  for (int j = 0; j < (len - 1); j++) {
    uint8_t shift = 0x80U;
    uint8_t curr = (uint8_t)msg->data[j];
    for (int i=0; i<8; i++) {
      uint8_t bit_sum = curr & shift;
      uint8_t temp_chk = checksum & 0x80U;
      if (bit_sum != 0U) {
        bit_sum = 0x1C;
        if (temp_chk != 0U) {
          bit_sum = 1;
        }
        checksum = checksum << 1;
        temp_chk = checksum | 1U;
        bit_sum ^= temp_chk;
      } else {
        if (temp_chk != 0U) {
          bit_sum = 0x1D;
        }
        checksum = checksum << 1;
        bit_sum ^= checksum;
      }
      checksum = bit_sum;
      shift = shift >> 1;
    }
  }
  return (uint8_t)(~checksum);
}

static uint8_t chrysler_get_counter(const CANPacket_t *msg) {
  return (uint8_t)(msg->data[6] >> 4);
}

static void chrysler_rx_hook(const CANPacket_t *msg) {
  // Measured EPS torque
  if ((msg->bus == 0U) && (msg->addr == chrysler_addrs->EPS_2)) {
    int torque_meas_new = ((msg->data[4] & 0x7U) << 8) + msg->data[5] - 1024U;
    update_sample(&torque_meas, torque_meas_new);
  }

  // enter controls on rising edge of ACC, exit controls on ACC off
  const unsigned int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0U : 2U;
  if ((msg->bus == das_3_bus) && (msg->addr == chrysler_addrs->DAS_3)) {
    bool cruise_engaged = GET_BIT(msg, 21U);
    pcm_cruise_check(cruise_engaged);
  }

  // TODO: use the same message for both
  // update vehicle moving
  if ((chrysler_platform != CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == chrysler_addrs->ESP_8)) {
    vehicle_moving = ((msg->data[4] << 8) + msg->data[5]) != 0U;
  }
  if ((chrysler_platform == CHRYSLER_PACIFICA) && (msg->bus == 0U) && (msg->addr == 514U)) {
    int speed_l = (msg->data[0] << 4) + (msg->data[1] >> 4);
    int speed_r = (msg->data[2] << 4) + (msg->data[3] >> 4);
    vehicle_moving = (speed_l != 0) || (speed_r != 0);
  }

  // exit controls on rising edge of gas press
  if ((msg->bus == 0U) && (msg->addr == chrysler_addrs->ECM_5)) {
    gas_pressed = msg->data[0U] != 0U;
  }

  // exit controls on rising edge of brake press
  if ((msg->bus == 0U) && (msg->addr == chrysler_addrs->ESP_1)) {
    brake_pressed = ((msg->data[0U] & 0xFU) >> 2U) == 1U;
  }
}

static bool chrysler_tx_hook(const CANPacket_t *msg) {
  const TorqueSteeringLimits CHRYSLER_STEERING_LIMITS = {
    .max_torque = 261,
    .max_rt_delta = 112,
    .max_rate_up = 3,
    .max_rate_down = 3,
    .max_torque_error = 80,
    .type = TorqueMotorLimited,
  };

  const TorqueSteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = {
    .max_torque = 350,
    .max_rt_delta = 112,
    .max_rate_up = 6,
    .max_rate_down = 6,
    .max_torque_error = 80,
    .type = TorqueMotorLimited,
  };

  const TorqueSteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = {
    .max_torque = 361,
    .max_rt_delta = 182,
    .max_rate_up = 14,
    .max_rate_down = 14,
    .max_torque_error = 80,
    .type = TorqueMotorLimited,
  };

  bool tx = true;

  // STEERING
  if (msg->addr == chrysler_addrs->LKAS_COMMAND) {
    int start_byte = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 1;
    int desired_torque = ((msg->data[start_byte] & 0x7U) << 8) | msg->data[start_byte + 1];
    desired_torque -= 1024;

    const TorqueSteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS :
                                        (chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS;

    bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? GET_BIT(msg, 4U) : (msg->data[3] & 0x7U) == 2U;
    if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) {
      tx = false;
    }
  }

  // FORCE CANCEL: only the cancel button press is allowed
  if (msg->addr == chrysler_addrs->CRUISE_BUTTONS) {
    const bool is_cancel = msg->data[0] == 1U;
    const bool is_resume = msg->data[0] == 0x10U;
    const bool allowed = is_cancel || (is_resume && controls_allowed);
    if (!allowed) {
      tx = false;
    }
  }

  return tx;
}

static safety_config chrysler_init(uint16_t param) {

  const uint32_t CHRYSLER_PARAM_RAM_DT = 1U;  // set for Ram DT platform

  // CAN messages for Chrysler/Jeep platforms
  static const ChryslerAddrs CHRYSLER_ADDRS = {
    .EPS_2            = 0x220,  // EPS driver input torque
    .ESP_1            = 0x140,  // Brake pedal and vehicle speed
    .ESP_8            = 0x11C,  // Brake pedal and vehicle speed
    .ECM_5            = 0x22F,  // Throttle position sensor
    .DAS_3            = 0x1F4,  // ACC engagement states from DASM
    .DAS_6            = 0x2A6,  // LKAS HUD and auto headlight control from DASM
    .LKAS_COMMAND     = 0x292,  // LKAS controls from DASM
    .CRUISE_BUTTONS   = 0x23B,  // Cruise control buttons
  };

  // CAN messages for the 5th gen RAM DT platform
  static const ChryslerAddrs CHRYSLER_RAM_DT_ADDRS = {
    .EPS_2            = 0x31,   // EPS driver input torque
    .ESP_1            = 0x83,   // Brake pedal and vehicle speed
    .ESP_8            = 0x79,   // Brake pedal and vehicle speed
    .ECM_5            = 0x9D,   // Throttle position sensor
    .DAS_3            = 0x99,   // ACC engagement states from DASM
    .DAS_6            = 0xFA,   // LKAS HUD and auto headlight control from DASM
    .LKAS_COMMAND     = 0xA6,   // LKAS controls from DASM
    .CRUISE_BUTTONS   = 0xB1,   // Cruise control buttons
  };

  static RxCheck chrysler_ram_dt_rx_checks[] = {
    {.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
  };

  static RxCheck chrysler_rx_checks[] = {
    {.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    //{.msg = {{ESP_8, 0, 8, .max_counter = 15U, .ignore_quality_flag = true, .frequency = 50U}}},
    {.msg = {{514, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
  };

  static const CanMsg CHRYSLER_TX_MSGS[] = {
    {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3, .check_relay = false},
    {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6, .check_relay = true},
    {CHRYSLER_ADDRS.DAS_6, 0, 8, .check_relay = true},
  };

  static const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = {
    {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3, .check_relay = false},
    {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8, .check_relay = true},
    {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8, .check_relay = true},
  };

#ifdef ALLOW_DEBUG
  // CAN messages for the 5th gen RAM HD platform
  static const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = {
    .EPS_2            = 0x220,  // EPS driver input torque
    .ESP_1            = 0x140,  // Brake pedal and vehicle speed
    .ESP_8            = 0x11C,  // Brake pedal and vehicle speed
    .ECM_5            = 0x22F,  // Throttle position sensor
    .DAS_3            = 0x1F4,  // ACC engagement states from DASM
    .DAS_6            = 0x275,  // LKAS HUD and auto headlight control from DASM
    .LKAS_COMMAND     = 0x276,  // LKAS controls from DASM
    .CRUISE_BUTTONS   = 0x23A,  // Cruise control buttons
  };

  static RxCheck chrysler_ram_hd_rx_checks[] = {
    {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, 100U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
    {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, 50U, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
  };

  static const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = {
    {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3, .check_relay = false},
    {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8, .check_relay = true},
    {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8, .check_relay = true},
  };

  const uint32_t CHRYSLER_PARAM_RAM_HD = 2U;  // set for Ram HD platform
  bool enable_ram_hd = GET_FLAG(param, CHRYSLER_PARAM_RAM_HD);
#endif

  safety_config ret;

  bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT);

  if (enable_ram_dt) {
    chrysler_platform = CHRYSLER_RAM_DT;
    chrysler_addrs = &CHRYSLER_RAM_DT_ADDRS;
    ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS);
#ifdef ALLOW_DEBUG
  } else if (enable_ram_hd) {
    chrysler_platform = CHRYSLER_RAM_HD;
    chrysler_addrs = &CHRYSLER_RAM_HD_ADDRS;
    ret = BUILD_SAFETY_CFG(chrysler_ram_hd_rx_checks, CHRYSLER_RAM_HD_TX_MSGS);
#endif
  } else {
    chrysler_platform = CHRYSLER_PACIFICA;
    chrysler_addrs = &CHRYSLER_ADDRS;
    ret = BUILD_SAFETY_CFG(chrysler_rx_checks, CHRYSLER_TX_MSGS);
  }
  return ret;
}

const safety_hooks chrysler_hooks = {
  .init = chrysler_init,
  .rx = chrysler_rx_hook,
  .tx = chrysler_tx_hook,
  .get_counter = chrysler_get_counter,
  .get_checksum = chrysler_get_checksum,
  .compute_checksum = chrysler_compute_checksum,
};